HIGH RISE BUILDING MOVEMENT MONITORING USING RTK-GPS

(CASE STUDY: MENARA SARAWAK ENTERPRISE)

SHU KIAN KOK

UNIVERSITI TEKNOLOGI MALAYSIA

HIGH RISE BUILDING MOVEMENT MONITORING USING RTK-GPS

(CASE STUDY: MENARA SARAWAK ENTERPRISE)

SHU KIAN KOK

A thesis submitted in fulfilment of the

requirements for the award of the degree of

Master of Science (Geomatic Engineering)

Faculty of Geoinformation Science and Engineering

Universiti Teknologi Malaysia

DISEMBER 2005

iii

To my beloved mother and father

iv

ACKNOWLEDGEMENT

In particular, I wish to express my sincere appreciation to my supervisor,

Assoc. Prof. Dr. Wan Abdul Aziz Wan Mohd Akib for his encouragement, guidance,

and friendship. Without his continue support and interest, this thesis would not have

been the same as presented here.

I would like to extend my deepest gratitude to Mr Zulkarnaini Mat Amin for

his guidance and contribution in this thesis. Besides that, i would like to express my

gratitude to Geodesy Section Department Survey and Mapping Malaysia (DSMM)

for providing the GPS data. I also wish to extend my heartiest gratitude to Assoc.

Prof. Dr. Md. Nor Kamarudin for his kindness to lend his anemometer instrument for

this research.

A special thanks to Jayalah Cemerlang Reality Sdn. Bhd. for the permission

and technical assistance to carry out this research at the Menara Sarawak Enterprise

Building, Johor Bharu.

I also wish to express my thankful to the following persons whose have

assisted me by factual help in the implementation of this research:

The technicians at the Engineering Survey Laboratory, FKSG, UTM.

Mr. Voon Min Hi

Mr. Kee Tuan Chew

Mr Wong Chee Siang Tony

Mr Tan Wee Keng

Last, but not last, I am also grateful to my family members for giving me all

the support that I needed.

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ABSTRACT

The need for deformation surveys of large engineering structures such as long

span bridges, dams and tall structures often arises from concerns associated with

environmental protection, property damage and public safety. There are many high

buildings nowadays, therefore it is very important to monitor the buildings to ensure

they are still under stable condition. Recently, the Global Positioning System (GPS)

especially Real Time Kinematics (RTK-GPS) has emerged as a survey tool for many

deformation applications. The RTK-GPS is carrier phase observation processed in

real time, giving results such as position coordinates. This study highlights the

concept and methodology of the continuous RTK-GPS and its potential application

for high rise building monitoring surveys. The main objectives of this study are to

study the ability and efficiency of the continuous RTK-GPS method in high rise

building’ deformation detection and also to develop KFilter program for movement

monitoring using Matlab v6.1 with Kalman Filter method. The GPS instruments’

calibrations had been carried out to ensure accuracy and reliability of the continuous

RTK-GPS observation for high rise building movement monitoring. The surveys had

been carried out on Menara Sarawak Enterprise, Johore Malaysia in two different

epochs. Thus, the developed KFilter program is able to perform the movement

monitoring analysis on the observed data to classify the stability of the building. The

results of this study shows that the continuous RTK-GPS can provide 1cm and 2cm

accuracy for horizontal and vertical respectively. The effectiveness of this technique

depends on radio link communication whereby obstructions will cause the

communication signal to fail. From the KFilter program analysis, the results shows

that the Menara Sarawak Enterprise building is stable. The continuous RTK-GPS

epoch 1 and epoch 2 analyses had shown the building is stable although displacement

distance around 0.5cm and 1cm respectively are detected.

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ABSTRAK

Keperluan bagi melaksanakan ukur deformasi terhadap struktur kejuruteraan

besar seperti jambatan, empangan dan bangunan tinggi adalah semakin penting untuk

perjagaan alam sekitar dan melindungi keselamatan awam. Terdapat semakin banyak

bangunan tinggi pada masa kini, maka amat penting untuk memastikan bangunan

tinggi berkenaan dalam keadaan yang stabil. Untuk masa kini, Global Positioning

System (GPS) telah digunakan sebagai alat pengukuran bagi kebanyakan kerja-kerja

deformasi. RTK-GPS adalah cerapan fasa pembawa yang dijalankan dalam masa

hakiki menghasilkan koordinat kedudukan. Kajian ini membincangkan konsep dan

potensi aplikasi RTK untuk ukur pemantauan bangunan tinggi. Objektif utama kajian

ini adalah untuk mengkaji kebolehan dan keberkesanan bagi teknik continuous RTK-

GPS di pengesanan deformasi bangunan tinggi dan membina program KFilter untuk

pemantauan pergerakan dengan menggunakan Matlab v6.1 bersama dengan teknik

Kalman Filter. Kalibrasi peralatan GPS telah dijalankan untuk memastikan kejituan

dan keupayaan cerapan continuous RTK-GPS bagi pemantauan pergerakan

bangunan tinggi. Percerapan teknik ini telah dilaksanakan di Menara Sarawak

Enterprise dalam 2 epok yang berlainan. Lepas itu, program KFilter digunakan untuk

analisis pemantauan pergerakan ke atas cerapan data demi menentukan kestabilan

bangunan berkenaan. Hasil kajian ini menunjukkan bahawa continuous RTK-GPS

dapat memberi kejituan mendatar 1cm dan menegak 2cm. Keberkesanan teknik ini

amat bergantung kepada perhubungan komunikasi radio dimana halangan akan

menyebabkan isyarat komunikasi radio terputus. Daripada hasil analisis program

KFilter menunjukkan bahawa Menara Sarawak Enterprise dalam keadaan stabil.

Analisis epok 1 dan 2 bagi cerapan continuous RTK-GPS mengesahkan bangunan

tersebut stabil walaupun jarak pergerakan lebih kurang 0.5cm dan 1cm telah dikesan

dalam kedua-dua epok.

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TABLE OF CONTENTS CHAPTER TITLE PAGE THESIS STATUS DECLARATION

SUPERVISOR’S DECLARATION

DECLARATION ON COOPERATION WITH

OUTSIDE AGENCIES AND CERTIFICATION OF

EXAMINATION

TITLE PAGE i

DECLARATION ii

DEDICATION iii

ACKNOWLEDGEMENTS iv

ABSTRACT v

ABSTRAK vi

TABLE OF CONTENTS vii

LIST OF TABLES xi

LIST OF FIGURES xii

LIST OF ABBREATIONS xv

LIST OF APPENDICES xvi

1 INTRODUCTION 1

1.1 Introduction 1

1.2 Problem Statement 4

1.3 Research Objectives 5

1.4 Research Scopes 5

1.5 Significance of Study 5

viii

1.6 Research Methodology 6

1.6.1 Literature Review 7

1.6.2 Field Data Acquisition 7

1.6.3 Development of KFilter Program 7

1.6.4 Observation Data Processing 8

1.6.5 Analyses and Results 8

1.6.6 Conclusions and Recommendations 8

1.7 Thesis Overview 8

2 LITERATURE REVIEW 10

2.1 Literature Review 10

2.2 High Rise Buildings Structure Material 16

2.3 Deformation in Structure 17

2.3.1 Deflection of Beams 18

2.3.2 Settlement of Foundations 19

2.3.3 Wind Loading Problem 20

2.4 Review of GPS 21

2.5 GPS Positioning Techniques 22

2.5.1 Real Time Kinematics (RTK-GPS) 23

2.6 Error Sources in GPS Measurement 24

3 THE APPLICATION OF KALMAN FILTER IN

DEFORMATION STUDY 28

3.1 Introduction 28

3.1.1 The Discrete Kalman Filter Algorithm 31

3.1.2 The Extended Kalman Filter 32

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3.2 Advantages, Problems and Disadvantages of Kalman Filter 34

3.3 Application of Kalman Filter In Deformation Monitoring 36

4 FIELD METHODOLOGY AND DATA PROCESSING 38

4.1 Introduction 38

4.2 The Menara Sarawak Enterprise Monitoring Network 39

4.3 Instruments Used for GPS Observation 42

4.4 GPS Instruments Calibration 43

4.4.1 Test on RTK – GPS Performance 43

4.4.2 Test on Accuracy of RTK-GPS Baseline 45

4.5 GPS Observation 47

4.5.1 GPS Network of Coordinates Transfer 48

4.5.2 GPS Monitoring Network 49

4.6 Data Processing and Adjustment 50

4.6.1 Trimble Geomatics Office Data Downloading 51

4.6.2 Leica Ski Pro Data Downloading 52

4.7 KFilter Program 52

4.8 Simulation Test 57

4.8.1 ‘Movement’ Simulation Test 57

4.8.2 ‘Timing’ Simulation Test 58

4.9 Static GPS Deformation Analysis 59

4.10 Movement Monitoring Analysis 62

4.11 Study of Wind Effect (Vibration) Using RTK-GPS Data 62

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5 ANALYSES AND RESULTS 64

5.1 Introduction 64

5.2 Results Analysis for Study on RTK-GPS Baseline 64

5.3 Results Analysis for Test on Accuracy of RTK-GPS

Baseline 65

5.4 Results Analysis on ‘Movement’ Simulation Test 67

5.5 Results Analysis on ‘Timing’ Simulation Test 69

5.6 Case Study: Menara Sarawak Enterprise 70

5.7 Results Analysis For Study of Wind Effect (Vibration)

Using RTK-GPS Data 73

5.8 Summary 79

6 CONCLUSIONS AND RECOMMENDATIONS 81

6.1 Conclusions 81

6.2 Recommendations 82

REFERENCES 84 APPENDICES 93 - 116

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LIST OF TABLES

TABLE NO. TITLE PAGE 4.1 Adjusted Grid Coordinates from Static Processing 44 4.2 Adjusted Geodetic Coordinates from Static Processing 44 4.3 Adjusted Grid Coordinates from Static Processing 46 4.4 Adjusted Geodetic Coordinates from Static Processing 46 4.5 GPS Observation Schedule of Menara Sarawak Enterprise

Building 49

4.6 Data processing Options 51 4.7 Schedule of ‘Timing’ Simulation Test Observation 59 5.1 Analysis on One and half hour Continuous RTK-GPS Data

For Station UTMR 64

5.2 RMS Analysis on Continuous RTK-GPS Data for T200,

T300 and TR2300 65

5.3 Explanation Analysis 65 5.4 Simulation Test for Vertical Axis 67 5.5 Simulation Test for Horizontal (Northing & Easting) 68 5.6 Results Processing From GPS DEFORMATION ANALYSIS

PROGRAM, GPSAD2000 and KFilter 72

xii

LIST OF FIGURES

FIGURE NO. TITLE PAGE

1.1 General Definition of High-rise Building 2 1.2 Menara Sarawak Enterprise 3 1.3 Flow of Research Methodology 6 2.1 Comparison of the Bulbs of Pressure under a Single

Footing on Test Load and Under a Large Building 19

2.2 GPS Segments 21 2.3 RTK-GPS Observation Configuration 24 4.1 DSMM Geodetic Control (GPS) Station, J416 39 4.2 Location of Control and Monitoring Stations 40

4.3 Base 1 (B1) 40 4.4 Base 2 (B2) 40 4.5 Rover 1 (R1) 41 4.6 Rover 2 (R2) 41 4.7 Design of Rover Monument 41 4.8 Leica GPS System 500 Receiver 42 4.9 Trimble 4800 Series GPS Receiver 43 4.10 Coordinates of UTMB and UTMR Derived from

RTKNet Stations 44

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4.11 Coordinates of T200, T300 and TR2300 Derived from TRS

Station and JHJY RTKNet Stations 46 4.12: Information of Satellite Visibility on 21/12/2004 47 4.13 Information of DOP Horizontal on 21/12/2004 48 4.14 Information of DOP Vertical on 21/12/2004 48 4.15 GPS Network of Coordinates Transfer 49 4.16 GPS Monitoring Network 50 4.17 KFilter user interface 52 4.18 Flow Chart of Stage Analysis KFilter 53 4.19 Format of Input Data for Developed Program KFilter 54 4.20 The Deformation Visualization Graph 54 4.21 Flow Chart of KFilter Program 55 4.22 Example of Deformation Report 56 4.23 Preparation of ‘Movement’ Simulation Test 57 4.24 Static (Left of Figure) and ‘Vibrated’ (Right of Figure) 58 4.25 Process Methodology of Static GPS Deformation Analysis 60 4.26 Anemometer 63 5.1 No Deformation Detected 69 5.2 Deformation Detected 70 5.3 Northing and Easting Displacements Graph 73 5.4 Northing Movements Value Resulted From Winds Effects 75 5.5 Easting Movements Value Resulted From Winds Effects 76

xiv

5.6 WGS84 Ellipsoid Height Movements Value Resulted From Winds

Effects 77

5.7 The Deformation Report (KFilter) for Without Wind

Effect and With Wind Effect 78

xv

LIST OF ABBREATIONS

GPS Global Positioning System

Hz Hertz

RTK Real Time Kinematics

cm centimeter

mm millimeter

m meter

hr hour

PRN Pseudo Random Noise

ppm Part per million

DSMM Department of Survey and Mapping Malaysia

TGO Trimble Geomatics Office

DOP Dilution of Positioning

RMS Roof Mean Squares

OTF On-the-fly

B1 Base 1

B2 Base 2

R1 Rover 1

R2 Rover 2

WGS84 World Geodetic System 1984

cont. continuous

LSE Least Square Estimation

xvi

LIST OF APPENDICES

APPENDIX. TITLE PAGE A SPECIFICATIONS OF LEICA GPS SYSTEM 500 93 B SPECIFICATION OF TRIMBLE 4800 GPS SYSTEM 96 C ONE HOUR CONTINUOUS RTK-GPS

OBSERVATION DATA FOR UTMB AND UTMR 99 D HALF HOUR CONTINUOUS RTK-GPS

OBSERVATION DATA FOR UTMB AND UTMR 100 E 5 MINUTES OBSERVATION DATA FOR T200 (BASE)

AND TR2300 (ROVER) 101 F 2 MINUTES OBSERVATION DATA FOR T300 (BASE)

AND TR2300 (ROVER) 102 G NETWORK ADJUSTMENT REPORT

(TRIMBLE GEOMATIC OFFICE) 103 H TRIMBLE GEOMATICS OFFICE DATA

DOWNLOADING PROCEDURES 107 I LEICA SKI PRO DATA DOWNLOADING

PROCEDURES 108 J OBSERVATION SCHEDULE OF ‘TIMING’

SIMULATION TEST 109

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K SPECIFICATION OF ANEMOMETER DAVIS 111 L DEFORMATION REPORT FOR GPS

DEFORMATION ANALYSIS PROGRAM 113 N DEFORMATION REPORT FOR GPSAD2000 114 M DEFORMATION REPORT FOR KFilter 116

CHAPTER 1

INTRODUCTION

1.1 Introduction

Deformation refers to the changes which a deformable body undergoes in its

shapes, dimension and position. Deformation survey can be used for obtaining

information about the stability of some objects like natural or man-made objects. The

man-made objects such as large engineering structures are subject to deformation due

to various factors: changes of ground water level, tidal phenomena, tectonic

phenomena, land movements, or any other natural disasters. The large engineering

structures include dams, long span bridges, high rise buildings, reservoirs, sport

domes, planetariums, Olympic stadium etc. Therefore it is important to measure this

movement for the purpose of safety assessment as well as to prevent any disaster in

the future.

A high-rise building is defined as a building 35 meters or greater in height,

which is divided at regular intervals into occupiable levels (Emporis, 2004). To be

considered a high-rise building an edifice must be based on solid ground, and

fabricated along its full height through deliberate processes (as opposed to naturally-

occurring formations). A high-rise building is distinguished from other tall man-

made structures by the following guidelines

i. It must be divided into multiple levels of at least 2 meters in height;

ii. If it has fewer than 12 such internal levels – see Figure 1.1, then the

highest undivided portion must not exceed 50% of the total height.

2

Figure 1.1: General Definition of High-rise Building (Emporis, 2004)

Nowadays, there are much more large and tall engineering structures (high

rise buildings) than the past. These structures are designed to be much more flexible

and to resist extensive damage from changes in temperature, severe wind gusts and

earthquakes. Structural engineers require precise, reliable instruments to resolve their

concerns about angular movements, displacements and structural vibrations. Hence,

some actions can be taken before the disasters strike. It can save lives, avert large

financial liabilities and avoid severe environmental damage.

In general, there are two types of technique in deformation survey, i.e.

geodetic surveys and non-geodetic survey (geotechnical and structural). Geodetic

survey using total stations, precise levels, Global Positioning System (GPS), etc can

be based on absolute and relative networks. Deformation detection via geodetic

method mainly consists of two step analysis independent least square estimation

(LSE) of each epochs followed by deformation detection between two epochs. On

the other hand, geotechnical and structural methods use special equipments to

measure changes in length (extensometer), inclination (inclinometer), strain

(strainmeter) etc.

In contrast, the GPS technology can measure directly the position coordinates

and nowadays relative displacements can be measured at the rate of 10Hz or higher.

This provides a great opportunity to monitor, in real time, the displacement or

3

deflection, behavior of engineering structures under different loading conditions,

through automated change detection’ and alarm notification procedures (Ogaja et. al.,

2001).

One of the most recent real time GPS techniques to date is RTK-GPS. Such

real-time application had been widely used in various survey applications and

navigational purposes, regardless on land, at sea or in the air (Rizos, 1999). RTK-

GPS can achieve the accuracy of ± 2 cm + 2 ppm. In RTK-GPS configuration, a

receiver is placed on the reference point with known coordinates as reference station.

This reference station will continuously transmit correction message to rover

receiver. For example, a fully automated monitoring system using RTK-GPS

technique had been implemented successfully in Dam Diamond Valley Lake,

California. This system will provide the information on the displacement of the

monitoring points weekly (Michael et.al., 2001).

High rise building research was carried out at Menara Sarawak Enterprise

which is located at Stulang Laut, Johor Bahru (see Figure 1.2). The height of the

building is almost 120m above ground. The building’s structure is consisted of 30

storey tower and 3 basements as car park level. Each storey is about 3.5 meters in

height.

Figure 1.2: Menara Sarawak Enterprise

4

1.2 Problem Statement

Since our national high rise buildings inventory are aging and they are

carrying more and more loads, the need to monitor high rise buildings’ performance

has increased significantly over the past few years. High rise buildings require

careful provisions of life-safety systems because of their height and their large

density of occupant. Therefore, both for maintenance and repair planning, high-rise

building monitoring is becoming increasingly important. What's more, structural

deformation and deterioration problems faced by the high-rise building authorities

are very similar to those faced by dam, large span bridge, and highway and railroad

authorities.

In satellite surveying, static GPS positioning technique is perhaps the most

common method used by surveyors because of the high accuracies it can obtain. In

general, one to two hours is a good observation period for Static GPS baseline up to

30 kilometers. Static GPS method can be used for deformation detection. However,

this method is not suitable for continuous deformation monitoring because Static

GPS methods cannot provide data continuously compared to Real Time Kinematics

(RTK) GPS positioning technique. A high precision, carrier phase based, RTK-GPS

has been considered to play an important role as an alternative technique to the

geotechnical methods or in addition to such a sensor (Ogaja, 2000). The notable

advantage of using RTK-GPS is that this technique can detect deformation if the

structure has drifted (a few cm) relative to some reference or baseline while

accelerometers can not detect, directly, the absolute or relative displacements of the

structure (Ogaja, 2000). Therefore, the aim of this study is to analyze the potential

application of RTK-GPS method in deformation monitoring purpose of high rise

building.

5

1.3 Research Objectives

The objectives of this study have to fulfill the following requirements:-

i. To study the ability and efficiency of the continuous RTK-GPS

method in high rise building’s deformation detection.

ii. To develop program for monitoring movement using Kalman Filter

algorithms.

1.4 Research Scopes

The research scopes of this study involve:-

i To carry out the GPS data observation in continuous RTK-GPS

technique

ii. To process and analyze the data in order to get the pattern and

magnitude of the deformation.

iii. To study the ability of RTK-GPS to be applied in high density

construction area.

1.5 Significance of Study

The significance of this study includes:-

i Develop a RTK-GPS movement monitoring system with the aid of

Kalman Filter on high rise building.

ii Determine the type of the errors caused by RTK-GPS observation in

movement monitoring.

6

1.6 Research Methodology

Research methodology is divided into a few stages in order to achieve the

objectives of this study (see Figure 1.3).

Literature Review.

Calibration of GPS Instruments

Design the Control and Monitoring Stations’ Network.

Field Data Observation.

Analysis and Results

Conclusion and

Recommendations

Data Processing

Develop KFilter Program Using Matlab Version 6.1 and

Kalman Filter Method for Movement Monitoring.

Simulation Tests.

Figure 1.3: Flow of Research Methodology

7

1.6.1 Literature Review

Literature reviews were carried out on the concepts of GPS, deformation

surveying, structural monitoring, and the understanding of the GPS instrumentation.

Calibration of GPS instruments (Trimble 4800 series and Leica System 500) had

been carried out to ensure the instruments in good condition to perform the GPS

observations. At this stage, the GPS instruments were studied to ensure the

instruments can carry out continuous Real Time Kinematics technique with one

second sampling rate. Both of them are dual-frequency (L1 and L2) and able provide

high precision results.

1.6.2 Field Data Acquisition

Before field data acquisition has been carry out, the control network and

monitoring stations should be designed and placed in suitable locations. In this study,

Trimble 4800 series and Leica System 500 observations had been used to carry out

for two epochs. First epoch had been carried out on 21 December to 23 December

2004 whereas the second epoch had carried out on 28 April 2005 to 29 April 2005.

1.6.3 Development of KFilter Program KFilter program had been developed using Matlab version 6.1 and based on

the Kalman Filter algorithm for the object movements monitoring purpose. The

program will read continuous RTK input data from GPS receiver and performs

movement monitoring analyses with the help of Kalman Filter algorithm. The

program will give some warning alarms if it detected displacements from the

observed data. Beside that, the simulation tests had been carried out to ensure the

reliability of the developed KFilter program in movement monitoring.

8

1.6.4 Observation Data Processing The observed data had been processed using certain commercial software or

self-developed program. The continuous RTK data had been downloaded to Leica

SKI-Pro and Trimble Geomatics Office. The output files with its suitable format for

the developed program will be created. The program which is developed using

Matlab v6.1 will perform its analysis based on the observation data.

1.6.5 Analyses and Results

Analyses in this study include the reliability of the observed data and the

effectiveness of the program in determining the stability of the high rise building. In

this study, the program will perform structural monitoring analyze on the GPS

observation data.

1.6.6 Conclusions and Recommendations Summarizes findings, make conclusions and recommends topics for further

investigations. The prospects and limitations of continuous RTK-GPS technique

were also presented.

1.7 Thesis Overview

Chapter 1 described the important of the deformation monitoring for high rise

building using Global Positioning System (GPS). The problem statement, research

scopes and the significant of the study had been described.

9

Literature review is an important stage of this study to ensure that the

research can be carried out successfully. It was discussed in Chapter 2. The types of

material of high buildings were stated out in this chapter. The factors that affect

concrete strength of the buildings were explained. The RTK-GPS was used in this

study for movement monitoring. Thus the introduction and literature review on the

RTK-GPS were stated out. There were included the errors of RTK-GPS observation

and its configuration.

The program for movement monitoring with the help of Kalman Filter

method had been developed. Therefore, the introduction and definition of the

Kalman Filter method including its algorithms were elaborated in Chapter 3.

The calibration of GPS instruments and field data acquisition is the most

important stage in the study and discussed in details in chapter 4. 2 epochs of

observation were carried out in the study. Setting up a deformation network which

consists of selected reference stations and the monitoring points is necessary. The

GPS observations were carried out using GPS instruments, Leica GPS System 500

and Trimble GPS 4800 System. Meanwhile, the software used for data downloading

and data processing were Trimble Geomatics Office and Leica Ski-Pro. The

simulation test was carried out to ensure that the developed program can detect the

displacement or vibration successfully.

Chapter 5 discussed the calibration and simulation tests analysis results.

Besides that, the stability analysis of Menara Sarawak Enterprise using developed

program had been carried out. The analysis was verified by other program, such as

GPS Deformation Analysis Program-Bayrak (Turkey) and GPSAD2000-Boon

(Malaysia). This increased the reliability of the analysis for Menara Sarawak

Enterprise movement monitoring.

Lastly, chapter 6 presented the conclusions of this study. Some

recommendations had been proposed and considered to improve this study.

84

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